SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 1 • 84.81 of 350.00 AH used of 24V (75.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.8 deg, depth 0.92 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 18 s • Transponder ping count: 10
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 101 VBD -0.68 - - 193 - - - 2281 - -116.8 -85.12 - 3028 - - - - - - - - 14.70 - 14.73
105 6.8 -10.2 3 122 roll -0.68 9.05 0.422 1983 197.8 2.72 2.087 872 -518.0 -116.8 -2.92 - 3221 -66.1 - - - - - - - 14.14 13.36 14.52
230 54.0 -24.3 21 236 done -0.47 0.28 0.283 2040 203.6 2.50 0.067 2283 564.4 -116.8 - - 3225 - - - - - - - - 14.25 14.48 14.51
551 92.4 -8.0 34 556 roll -0.40 0.12 0.279 2063 191.7 2.42 0.078 3694 583.1 -116.8 - - 3224 - - - - - - - - 14.35 14.54 14.49
580 94.3 -6.9 38 585 done -0.40 - - 2063 - 2.35 0.045 2273 -604.7 -116.8 - - 3224 - - - - - - - - 14.71 14.64 14.71
943 124.0 -8.7 49 944 done -0.40 - - 2063 - - - 2263 - -116.8 - - 3228 - - - - - - - - 14.90 14.92 14.92
1279 151.5 -8.0 55 1284 roll -0.40 - - 2063 - 2.38 0.058 886 -578.6 -116.8 - - 3224 - - - - - - - - 14.93 14.63 14.95
1349 157.4 -8.1 65 1355 done -0.40 - - 2057 - 2.45 0.063 2284 570.6 -116.8 - - 3223 - - - - - - - - 14.73 14.64 14.76
1671 182.7 -7.9 76 1676 roll -0.40 - - 2050 - 2.45 0.087 3692 574.7 -116.8 - - 3221 - - - - - - - - 14.94 14.61 14.95
1719 186.7 -8.1 83 1726 done -0.40 - - 2050 - 2.38 0.045 2275 -595.4 -116.8 - - 3221 - - - - - - - - 14.71 14.70 14.73
2064 213.2 -7.6 90 2068 roll -0.40 - - 2051 - 2.38 0.055 892 -581.1 -116.8 - - 3220 - - - - - - - - 14.95 14.66 14.97
2119 217.7 -8.0 98 2124 done -0.40 - - 2043 - 2.45 0.064 2290 570.6 -116.8 - - 3218 - - - - - - - - 14.74 14.64 14.78
2455 245.5 -8.4 111 2456 done -0.40 - - 2043 - - - 2289 - -116.8 - - 3217 - - - - - - - - 14.95 14.97 14.97
2792 274.3 -8.6 117 2792 done -0.40 - - 2043 - - - 2289 - -116.8 - - 3215 - - - - - - - - 14.96 14.98 14.97
3127 302.5 -8.3 123 3132 roll -0.40 - - 2043 - 2.42 0.054 887 -579.3 -116.8 - - 3213 - - - - - - - - 14.97 14.66 15.00
3189 307.7 -8.1 132 3195 done -0.40 - - 2041 - 2.50 0.068 2277 556.0 -116.8 - - 3212 - - - - - - - - 14.66 14.59 14.78
3520 333.4 -7.8 144 3524 roll -0.40 - - 2034 - 2.50 0.094 3691 565.6 -116.8 - - 3210 - - - - - - - - 14.96 14.59 14.97
3546 335.6 -7.8 148 3552 done -0.40 0.08 0.215 2061 337.5 2.40 0.051 2287 -585.0 -116.8 - - 3209 - - - - - - - - 14.43 14.69 14.57
3912 360.0 -6.6 158 3916 roll -0.40 - - 2061 - 2.42 0.062 886 -578.9 -116.8 - - 3208 - - - - - - - - 14.96 14.64 14.97
4009 366.8 -6.8 172 4014 done -0.40 - - 2058 - 2.50 0.070 2283 558.8 -116.8 - - 3207 - - - - - - - - 14.75 14.65 14.78
4359 391.1 -7.0 180 4364 roll -0.40 - - 2058 - 2.50 0.095 3688 562.0 -116.8 - - 3205 - - - - - - - - 14.97 14.58 14.99
4400 394.1 -7.4 186 4406 done -0.40 - - 2053 - 2.42 0.051 2269 -586.4 -116.8 - - 3205 - - - - - - - - 14.71 14.67 14.73
4752 420.7 -7.7 194 4756 roll -0.40 - - 2053 - 2.42 0.065 880 -574.0 -116.8 - - 3204 - - - - - - - - 14.96 14.62 14.98
4820 426.4 -8.1 204 4826 done -0.40 - - 2053 - 2.53 0.071 2291 557.7 -116.8 - - 3202 - - - - - - - - 14.72 14.59 14.76
5143 452.3 -8.1 215 5144 done -0.40 - - 2053 - - - 2292 - -116.8 - - 3201 - - - - - - - - 14.95 14.97 14.97
5480 477.4 -7.4 221 5485 roll -0.40 - - 2053 - 2.47 0.060 885 -569.6 -116.8 - - 3200 - - - - - - - - 14.95 14.62 14.97
5506 479.4 -7.4 225 5513 done -0.40 - - 2053 - 2.47 0.072 2267 559.5 -116.8 - - 3200 - - - - - - - - 14.73 14.60 14.76
5871 503.3 -6.5 235 5876 roll -0.40 - - 2043 - 2.55 0.094 3701 562.4 -116.8 - - 3198 - - - - - - - - 14.95 14.57 14.97
5941 508.1 -7.0 245 5947 done -0.40 - - 2043 - 2.42 0.053 2261 -595.0 -116.8 - - 3197 - - - - - - - - 14.77 14.70 14.78
6263 530.8 -7.1 256 6268 roll -0.40 - - 2043 - 2.40 0.061 878 -576.2 -116.8 - - 3196 - - - - - - - - 14.95 14.61 14.97
6347 537.0 -7.2 268 6352 done -0.40 - - 2043 - 2.50 0.073 2272 557.6 -116.8 - - 3196 - - - - - - - - 14.66 14.54 14.70
6712 562.4 -7.0 278 6717 roll -0.40 - - 2038 - 2.55 0.099 3695 558.0 -116.8 - - 3195 - - - - - - - - 14.95 14.54 14.97
6738 564.3 -6.9 282 6744 done -0.40 0.08 0.212 2062 300.0 2.47 0.054 2266 -578.5 -116.8 - - 3194 - - - - - - - - 14.40 14.64 14.53
7104 585.0 -5.6 292 7108 roll -0.45 - - 2062 - 2.42 0.067 884 -571.1 -116.8 - - 3193 - - - - - - - - 14.96 14.59 14.97
7180 589.6 -6.0 303 7185 done -0.51 - - 2061 - 2.50 0.074 2273 555.6 -116.8 - - 3193 - - - - - - - - 14.71 14.58 14.74
7495 607.3 -5.7 313 7501 roll -0.56 0.12 0.144 1998 -525.0 2.55 0.097 3696 558.0 -116.8 - - 3192 - - - - - - - - 14.62 14.53 14.66
7530 610.0 -8.3 318 7535 done -0.56 - - 1999 - 2.42 0.055 2262 -592.6 -116.8 - - 3192 - - - - - - - - 14.74 14.67 14.76
7887 641.1 -8.7 327 7892 roll -0.56 - - 1999 - 2.40 0.063 889 -572.1 -116.8 - - 3190 - - - - - - - - 14.94 14.58 14.96
7956 647.3 -8.7 337 7963 done -0.56 - - 1998 - 2.50 0.076 2270 552.4 -116.8 - - 3190 - - - - - - - - 14.69 14.56 14.73
8280 674.8 -8.6 348 8281 done -0.56 - - 1998 - - - 2270 - -116.8 - - 3189 - - - - - - - - 14.92 14.95 14.95
8615 705.0 -9.1 354 8616 done -0.56 - - 1998 - - - 2267 - -116.8 - - 3188 - - - - - - - - 14.93 14.94 14.95
8951 736.3 -9.3 360 8952 done -0.56 - - 1998 - - - 2266 - -116.8 - - 3187 - - - - - - - - 14.95 14.97 14.97
9287 768.0 -9.6 366 9292 roll -0.56 - - 1998 - 2.47 0.065 879 -561.5 -116.8 - - 3186 - - - - - - - - 14.93 14.53 14.95
9322 771.3 -10.0 371 9327 done -0.56 - - 1998 - 2.53 0.079 2267 548.6 -116.8 - - 3185 - - - - - - - - 14.72 14.53 14.73
9679 803.5 -8.9 380 9680 done -0.56 - - 1998 - - - 2268 - -116.8 - - 3185 - - - - - - - - 14.92 14.95 14.95
10015 832.6 -8.4 386 10016 done -0.56 - - 1998 - - - 2268 - -116.8 - - 3183 - - - - - - - - 14.93 14.95 14.95
10351 861.2 -8.6 392 10356 roll -0.56 - - 1990 - 2.60 0.103 3702 551.5 -116.8 - - 3184 - - - - - - - - 14.95 14.49 14.96
10379 863.6 -8.7 396 10384 done -0.56 - - 1986 - 2.47 0.058 2258 -584.6 -116.8 - - 3186 - - - - - - - - 14.71 14.63 14.73
10744 895.6 -8.8 406 10748 roll -0.56 - - 1989 - 2.45 0.067 875 -564.5 -116.8 - - 3183 - - - - - - - - 14.93 14.56 14.95
10840 904.6 -9.0 420 10846 done -0.56 0.12 0.297 2012 191.7 2.53 0.080 2260 547.4 -116.8 - - 3181 - - - - - - - - 14.28 14.53 14.56
11192 932.5 -8.0 428 11193 done -0.56 - - 2010 - - - 2261 - -116.8 - - 3182 - - - - - - - - 14.91 14.92 14.92
11527 959.6 -8.3 434 11528 done -0.56 - - 2012 - - - 2260 - -116.8 - - 3180 - - - - - - - - 14.91 14.93 14.93
11863 987.1 -8.2 440 11864 done -0.56 - - 2012 - - - 2258 - -116.8 - - 3180 - - - - - - - - 14.93 14.95 14.95
11915 end dive: TARGET_DEPTH_EXCEEDED
11915 begin apogee
11923 991.6 -8.1 441 12126 roll -0.19 0.45 0.228 2134 271.1 - - 2260 - - 200.05 1.604 2740 -2.2 0.255 - - - - - - 14.34 13.96 13.31
12127 end apogee: CONTROL_FINISHED_OK
12127 begin climb
12131 998.3 - 444 12292 done 0.68 0.90 0.144 2413 310.0 - - 2260 - 116.8 151.70 1.848 2260 -3.2 0.321 - - - - - - 13.93 14.16 13.07
12649 954.1 10.2 482 12654 roll 0.60 - - 2413 - 2.55 0.105 3644 542.7 116.8 - - 2227 - - - - - - - - 14.62 14.30 14.64
12690 949.3 14.2 488 12696 done 0.50 0.25 0.284 2365 -192.0 2.50 0.073 2245 -559.6 116.8 - - 2226 - - - - - - - - 14.15 14.37 14.42
13041 920.8 8.0 496 13046 roll 0.50 - - 2376 - 2.62 0.090 819 -544.3 116.8 - - 2226 - - - - - - - - 14.76 14.42 14.77
13089 917.0 10.7 503 13096 done 0.50 - - 2376 - 2.62 0.079 2228 537.8 116.8 - - 2224 - - - - - - - - 14.48 14.41 14.53
13433 889.1 8.2 510 13438 roll 0.50 - - 2376 - 2.60 0.108 3648 546.2 116.8 - - 2222 - - - - - - - - 14.81 14.45 14.83
13490 884.0 9.2 518 13494 done 0.50 - - 2385 - 2.53 0.073 2218 -565.2 116.8 - - 2222 - - - - - - - - 14.62 14.50 14.65
13825 855.4 8.6 531 13830 roll 0.50 - - 2396 - 2.55 0.090 827 -545.5 116.8 - - 2222 - - - - - - - - 14.83 14.47 14.87
13881 850.7 8.6 539 13886 done 0.50 0.15 0.265 2364 -213.3 2.60 0.080 2249 546.9 116.8 - - 2221 - - - - - - - - 14.28 14.49 14.57
14217 825.8 7.4 552 14222 roll 0.50 - - 2362 - 2.55 0.109 3639 545.1 116.8 - - 2219 - - - - - - - - 14.85 14.44 14.87
14293 819.3 8.4 563 14298 done 0.50 - - 2372 - 2.50 0.071 2244 -558.0 116.8 - - 2221 - - - - - - - - 14.54 14.49 14.60
14609 794.1 8.1 573 14614 roll 0.50 - - 2382 - 2.60 0.090 825 -545.8 116.8 - - 2221 - - - - - - - - 14.86 14.46 14.88
14685 788.2 7.6 584 14691 done 0.50 - - 2382 - 2.58 0.079 2235 546.5 116.8 - - 2220 - - - - - - - - 14.63 14.50 14.69
15001 762.2 8.3 594 15006 roll 0.50 - - 2382 - 2.58 0.107 3643 545.7 116.8 - - 2220 - - - - - - - - 14.87 14.45 14.92
15071 755.6 9.4 604 15076 done 0.45 0.20 0.258 2345 -185.0 2.50 0.073 2229 -565.6 116.8 - - 2219 - - - - - - - - 14.26 14.52 14.57
15393 733.9 6.6 615 15412 roll 0.46 - - 2355 - 2.60 0.090 819 -542.3 134.5 12.00 1.713 2189 -2.5 0.201 - - - - - - 14.87 14.57 13.95
15455 729.7 6.7 624 15489 done 0.51 - - 2356 - 2.60 0.079 2241 546.9 149.5 28.67 1.439 2131 -2.0 0.193 - - - - - - 14.59 14.47 13.93
15841 702.6 7.0 637 15852 roll 0.52 - - 2355 - 2.62 0.107 3644 535.5 157.9 3.22 0.965 2093 -11.8 1.613 - - - - - - 14.74 14.50 13.64
15910 697.2 7.8 647 15915 done 0.52 - - 2369 - 2.55 0.072 2234 -552.9 157.9 - - 2096 - - - - - - - - 14.59 14.43 14.60
16233 673.4 7.4 658 16238 roll 0.52 - - 2375 - 2.58 0.086 819 -548.4 157.9 - - 2101 - - - - - - - - 14.80 14.44 14.81
16309 667.8 7.1 669 16322 done 0.52 - - 2375 - 2.58 0.076 2236 549.2 163.6 5.55 1.398 2072 -5.2 0.468 - - - - - - 14.59 14.47 13.79
16681 637.7 8.3 680 16687 roll 0.52 - - 2375 - 2.62 0.106 3647 538.5 163.6 2.22 0.440 2070 - - - - - - - - 14.83 14.53 13.65
16764 629.6 9.6 692 16770 done 0.52 - - 2384 - 2.53 0.072 2227 -561.3 163.6 - - 2077 - - - - - - - - 14.62 14.52 14.65
17122 595.9 9.5 701 17127 roll 0.52 - - 2394 - 2.58 0.089 816 -546.9 163.6 - - 2080 - - - - - - - - 14.85 14.47 14.88
17184 589.8 9.5 710 17189 done 0.52 - - 2394 - 2.60 0.077 2247 550.4 163.6 - - 2081 - - - - - - - - 14.62 14.49 14.65
17515 556.7 10.2 722 17520 roll 0.52 - - 2394 - 2.55 0.107 3643 547.5 163.6 - - 2081 - - - - - - - - 14.86 14.45 14.88
17590 548.4 10.4 733 17596 done 0.52 0.15 0.263 2369 -166.7 2.50 0.073 2232 -564.4 163.6 - - 2082 - - - - - - - - 14.31 14.52 14.55
17907 523.8 7.7 743 17911 roll 0.52 - - 2378 - 2.58 0.084 812 -550.4 163.6 - - 2080 - - - - - - - - 14.85 14.47 14.88
17982 518.2 7.2 754 17990 done 0.52 - - 2378 - 2.60 0.077 2239 548.8 166.4 3.72 1.128 2059 -5.6 0.487 - - - - - - 14.63 14.49 13.71
18347 491.0 7.4 764 18353 roll 0.52 - - 2378 - 2.60 0.106 3639 538.5 166.4 2.08 0.301 2060 - - - - - - - - 14.87 14.54 13.45
18423 484.7 8.2 775 18429 done 0.52 - - 2388 - 2.47 0.070 2234 -568.8 166.4 - - 2066 - - - - - - - - 14.65 14.55 14.68
18788 454.9 8.5 785 18793 roll 0.52 - - 2397 - 2.58 0.084 815 -550.0 166.4 - - 2071 - - - - - - - - 14.87 14.49 14.88
18851 449.7 8.3 794 18857 done 0.52 - - 2396 - 2.60 0.076 2259 555.4 166.4 2.05 0.253 2060 -5.4 1.790 - - - - - - 14.56 14.50 13.19
19180 419.6 9.2 806 19185 roll 0.52 - - 2397 - 2.53 0.104 3649 549.4 166.4 - - 2069 - - - - - - - - 14.87 14.47 14.89
19277 409.7 9.9 820 19284 done 0.52 0.15 0.257 2372 -166.7 2.53 0.069 2214 -567.2 166.4 2.17 0.399 2060 -4.1 0.799 - - - - - - 14.33 14.53 13.64
19628 384.9 6.9 828 19663 roll 0.53 - - 2381 - 2.60 0.083 818 -536.9 176.6 24.92 1.249 2016 -1.8 0.102 - - - - 1 - 14.87 14.52 14.02
19697 380.2 6.9 838 19725 done 0.53 - - 2381 - 2.60 0.074 2251 551.2 187.4 18.80 1.271 1974 -2.2 0.125 - - - - - - 14.59 14.48 13.96
20070 351.9 7.9 849 20075 roll 0.53 - - 2381 - 2.55 0.104 3640 544.7 187.4 - - 1962 - - - - - - - - 14.75 14.40 14.77
20131 346.2 9.1 858 20136 done 0.53 - - 2390 - 2.50 0.069 2222 -567.2 187.4 - - 1961 - - - - - - - - 14.57 14.45 14.61
20461 316.7 9.1 870 20466 roll 0.53 - - 2400 - 2.55 0.086 824 -548.2 187.4 - - 1961 - - - - - - - - 14.81 14.45 14.83
20510 312.3 8.9 877 20517 done 0.53 - - 2398 - 2.62 0.075 2258 547.3 187.4 - - 1960 - - - - - - - - 14.59 14.46 14.63
20853 278.7 9.9 884 20858 roll 0.53 - - 2399 - 2.53 0.103 3643 547.4 187.4 - - 1961 - - - - - - - - 14.84 14.45 14.85
20936 269.6 10.6 896 20942 done 0.53 0.15 0.246 2372 -180.0 2.47 0.068 2259 -560.3 187.4 - - 1961 - - - - - - - - 14.34 14.50 14.59
21302 240.4 7.9 906 21306 roll 0.53 - - 2381 - 2.60 0.082 822 -552.7 187.4 - - 1961 - - - - - - - - 14.87 14.48 14.88
21384 234.1 7.4 918 21390 done 0.59 - - 2381 - 2.60 0.073 2259 552.7 187.4 - - 1964 - - - - - - - - 14.63 14.48 14.67
21749 206.9 7.4 928 21754 roll 0.59 - - 2381 - 2.50 0.101 3641 552.8 187.4 - - 1961 - - - - - - - - 14.87 14.46 14.89
21805 202.2 8.5 936 21810 done 0.59 - - 2390 - 2.45 0.064 2241 -571.4 187.4 - - 1961 - - - - - - - - 14.65 14.55 14.69
22141 176.1 7.7 949 22147 roll 0.59 - - 2391 - 2.58 0.083 827 -548.1 187.4 - - 1960 - - - - - - - - 14.88 14.50 14.90
22204 171.6 6.9 958 22215 done 0.65 - - 2387 - 2.60 0.072 2265 553.1 196.7 3.47 0.826 1938 -6.3 0.247 - - - - - - 14.60 14.46 13.85
22533 146.1 7.9 970 22539 roll 0.65 - - 2391 - 2.55 0.099 3646 541.6 196.7 2.05 0.253 1937 - - - - - - - - 14.88 14.56 13.37
22574 142.5 8.9 976 22581 done 0.65 - - 2398 - 2.47 0.064 2257 -562.3 196.7 - - 1944 - - - - - - - - 14.56 14.50 14.59
22919 114.5 8.2 983 22924 roll 0.65 - - 2407 - 2.65 0.078 819 -542.6 196.7 1.70 0.187 1937 -4.1 0.473 - - - - - - 14.88 14.52 14.41
23001 108.2 7.2 995 23009 done 0.70 - - 2406 - 2.58 0.071 2252 555.4 200.5 3.88 0.200 1921 -4.1 0.419 - - - - - - 14.65 14.53 14.21
23325 84.5 7.5 1006 23336 roll 0.70 - - 2406 - 2.55 0.099 3642 545.1 200.5 4.18 0.187 1929 1.9 -0.162 - - - - - - 14.88 14.49 14.25
23549 70.8 4.7 1038 23597 done 0.74 - - 2415 - 2.40 0.062 2251 -579.6 263.2 43.90 0.347 1667 -6.0 0.229 - - - - - - 14.62 14.57 14.29
23909 56.1 3.0 1056 23983 roll 0.98 0.28 0.090 2537 435.7 2.60 0.096 3642 535.0 365.6 68.57 0.302 1252 -6.1 0.211 - - - - - - 14.54 14.44 14.29
24124 40.9 6.9 1087 24137 done 0.99 - - 2544 - 2.42 0.063 2261 -570.7 374.8 9.20 0.220 1210 -4.6 0.159 - - - - - - 14.54 14.45 14.23
24455 24.5 5.5 1101 24492 roll 1.09 - - 2549 - 2.55 0.076 821 -564.7 418.5 30.80 0.198 1031 -5.8 0.135 - - - - - - 14.80 14.49 14.32
24581 16.9 6.2 1119 24605 done 1.22 0.15 0.111 2627 520.0 2.55 0.063 2256 562.7 445.9 19.40 0.177 921 -5.7 0.102 - - - - - - 14.55 14.50 14.35
24722 end climb: SURFACE_DEPTH_REACHED
24722 begin surface coast
24753 end surface coast: CONTROL_FINISHED_OK
24753 begin surface
SM 0.71 - - - - -6.12 6.80 0.060 215 31.6 - - 2257 - 500.17 38.00 0.138 700 18.4 -0.010 - - - - - -